Full-field three-dimensional surface measurement

ABSTRACT

Embodiments of the present invention may be used to perform measurement of surfaces, such as external and internal surfaces of the human body, in full-field and in 3-D. Embodiments of the present invention may include an electromagnetic radiation source, which may be configured to project electromagnetic radiation onto a surface. The electromagnetic radiation source may be configured to project the electromagnetic radiation in a pattern corresponding to a spatial signal modulation algorithm. The electromagnetic radiation source may also be configured to project the electromagnetic radiation at a frequency suitable for transmission through the media in which the radiation is projected. An image sensor may be configured to capture image data representing the projected pattern. An image-processing module may be configured to receive the captured image data from the image sensor and to calculate a full-field, 3-D representation of the surface using the captured image data and the spatial signal modulation algorithm. A display device may be configured to display the full-field, 3-D representation of the surface.

BACKGROUND

Accurate three-dimensional maps of external and internal human bodysurfaces are necessary for many medical procedures. For example,external body surfaces may need to be scanned for facial reconstructivesurgery or the fitting of prosthetics. Internal body surfaces may needto be mapped for various endoscopic or catheter-based procedures, suchas virtual biopsy, stenting, ablation, bronchoscopy,esophogastrodenoscopy, laparoscopy, colonoscopy, cyctoscopy, orarthroscopy. Further, some internal procedures may take place in gaseousmedia, such as a bronchoscopy, and others may take place in liquidmedia, such as arthroscopy or cardiovascular visualization.

Current techniques for three-dimensional scanning external and internalbody surfaces have many drawbacks. Laser-based scanning, such as a laserline scan, typically requires a patient to remain motionless, with evenminor movements affecting the accuracy of the scan. A typical laser scanmay require a patient to sit still for ten to fifteen seconds while manytwo-dimensional slices are gathered. The two-dimensional slices arelater recompiled into a three-dimensional representation of a surface.Movement during this time period by the patient, including respiration,tremors, or muscle reflexes, can negatively impact the accuracy of thescan. Further, laser scanning equipment itself may introduce unwantedvibration into the system due to the inherent movement of the laser.

Commonly used techniques for internal organ measurements suffer fromsimilar induced errors, these methods include: computed tomography (CT),optical coherence tomography (OCT), magnetic resonance imaging (MRI),and various ultra-sound approaches (US and IVUS).

Thus, a need exists for three-dimensional surface measurement techniquesthat may be performed quickly and may eliminate inaccuracies introducedby patients and equipment.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an embodiment of the present invention.

FIG. 2 illustrates a logic flow according to an embodiment of thepresent invention.

FIG. 3 illustrates a measurement package according to an embodiment ofthe present invention.

FIG. 4A illustrates an endoscope according to an embodiment of thepresent invention.

FIG. 4B illustrates an endoscope according to an embodiment of thepresent invention.

FIG. 4C illustrates an endoscope according to an embodiment of thepresent invention.

FIG. 5 illustrates a distal end according to an embodiment of thepresent invention.

FIG. 6 illustrates a capsule according to an embodiment of the presentinvention.

FIG. 7A illustrates a catheterization probe according to an embodimentof the present invention.

FIG. 7B illustrates a catheterization probe according to an embodimentof the present invention.

DETAILED DESCRIPTION

The present invention relates to real-time, full-field,three-dimensional (“3-D”) surface replication. Embodiments of thepresent invention may be used to perform measurement of surfaces, suchas external and internal surfaces of the human body, in full-field andin 3-D. Full-field may refer to the ability of a device's sensor tocapture and compute 3-D information of an entire scene containing anobject being measured, for example. Real-time may refer to use ofsufficiently fast sensor exposures or frame-rates to minimize oreliminate perceptible target surface motion, for example.

Embodiments of the present invention may include an electromagneticradiation source, which may be configured to project electromagneticradiation onto a surface. The electromagnetic radiation source may beconfigured to project the electromagnetic radiation in a patterncorresponding to a spatial signal modulation algorithm. Theelectromagnetic radiation source may also be configured to project theelectromagnetic radiation at a frequency suitable for transmissionthrough the media in which the radiation is projected. An image sensormay be configured to capture image data representing the projectedpattern. An image-processing module may be configured to receive thecaptured image data from the image sensor and to calculate a full-field,3-D representation of the surface using the captured image data and thespatial signal modulation algorithm. A display device may be configuredto display the full-field, 3-D representation of the surface.

Embodiments of the present invention may be further integrated into aprobe, diagnostic or therapeutic catheter, endoscope, or a capsule toallow full-field, 3-D surface replication on internal surfaces of thehuman body. Such a device may be internally or externally guided,steerable or propelled in order to be advanced to, or navigated throughcavities or the cardiovascular system.

FIG. 1 illustrates a real-time, full-field, 3-D surface replicationsystem 100 according to embodiments of the present invention. System 100may include a measurement package 102, a target surface 104, acontroller system 106, and a display system 108. System 100 mayimplement the spatial signal modulation (SSM) techniques described inU.S. Pat. No. 5,581,352 filed on Feb. 27, 1995, the entirety of which ishereby incorporated by reference, to reproduce instant, quantifiable 3-Dmaps of external and internal surfaces of the human body.

Measurement package 102 may include a camera device 110 and a radiationsource 112. The radiation source 112 may be fabricated by placing aslide or grating (not shown) with a desired pattern between a radiationemitting device and a lens (not shown). The camera device 110 may be adevice capable of capturing image data reflected from the target surface104 (e.g., a charge-coupled device (CCD) camera).

Controller system 106 (or image processing module) may include aprocessor or state machine capable of receiving image data captured bythe camera device 110 and processing the data to calculate a full-field,3-D representation of the target surface 104. Such a machine mayinclude, for example, any suitable processing platform, computingplatform, computing device, processing device, computing system,processing system, computer, processor, or the like, and may beimplemented using any suitable combination of hardware and/or software.

Display system 108 may include a display device (liquid crystal displaydevice, light emitting diode display device, etc.) to receive thefull-field, 3-D representation of target surface 104 from the controllersystem 106 and display the digital representation of the surface 104 tobe analyzed by a user.

FIG. 2 is a logic flow 200 of an operation of the replication system 100of FIG. 1 according to embodiments of the present invention. Duringoperation, radiation source 112 may project a pattern of electromagneticradiation, according to a spatial signal modulation algorithm, onto atarget surface 104 (step 202). The pattern may take the appearance ofparallel bands of electromagnetic radiation, for example. According toembodiments of the present invention, the carrier frequency of theprojected spatial radiation signals may depend on the media the signalsare propagating through. For example, human blood is some 2,500 timesmore transparent at certain infrared frequencies versus shorterwavelengths in the visible blue range. It is also not possible to useelectromagnetic radiation to “see” an object if the wavelength of theradiation used is larger than the object. Thus, the emitter carrierfrequency may be chosen based upon one or more characteristics (particlesize, color, quantity of particles, etc.) of a media (air, blood, mucus,urine, etc.) adjacent to a target surface.

The spatial signals may reflect from the target surface 104 back to thecamera device 110. The camera device 110 may capture the reflectedspatial signals, which are changed/modulated by interaction with thesurface 104 (step 204). The captured reflection images of the distortedprojections contain spatially encoded 3-D surface information. Datarepresenting the reflected (and distorted) spatial signals may betransmitted to the controller system 106 for processing (step 206).

Controller system 106 may include an image processing module and may useexisting information regarding various signal parameters to isolate thecontent of the reflected spatial signal that contains the 3-D shapeinformation. The shape information may be used to mathematicallyreconstruct the 3-D shape of target surface 104 (step 208). Controllersystem 106 may transmit digital data corresponding to the calculatedrepresentation of the surface 104 to the display system 108 to display adigital image representing a 3-D view of the surface 104.

FIG. 3 illustrates a measurement package 300 according to embodiments ofthe present invention. Measurement package 300 may include a radiationsource 302, a camera/lens device 304, an instrument port 306, and anirrigation module 308. Radiation source 302 and camera/lens device 304(which are similar to radiation source 112 and camera device 110 in FIG.1, respectively) are used to implement the SSM techniques describedabove.

Instrument port 306 may be a hollow tube that permits insertion of awide array of surgical devices that may be interchanged during aprocedure to fit the current needs of a physician. The irrigation module308 may include a channel which introduces an inert fluid (e.g., saline)under pressure to clear debris off of the exterior of the camera/lens304 during a procedure. Instrument port 306 and irrigation module 308are optional features of measurement package 300.

Measurement package 300 may be implemented in a system (similar tosystem 100 of FIG. 1) to project radiation patterns with specificfrequencies onto a surface, capture distorted reflections of theradiation pattern, and process the distorted reflections to facilitateanalysis by an array of mathematical processes to reconstruct a 3-Dshape of the surface. Embodiments of the present invention may integratevariations of measurement package 300 into medical devices to generate3-D representations of various surfaces. For example, embodiments of thepresent invention may be used to generate 3-D representations ofexternal human surfaces (e.g., faces, hands, feet, etc.). Embodiments ofthe present invention may also be used to generate 3-D representationsof internal human surfaces (e.g., heart chambers, lungs, intestines,etc.).

FIGS. 4A-C illustrate variations of endoscopes according to embodimentsof the present invention. Referring to FIG. 4A, endoscope 400 may beused to examine interiors of internal human organs/cavities and generatefull-field, 3-D representations of the organs/cavities. Endoscope 400may include a catheter section 401, a distal end 402, a camera 404(similar to camera 110 of FIG. 1), and a radiation source 403 (similarto radiation source 112 of FIG. 1). The camera 404 and radiation source403 may be connected to the catheter section 401 on one end of thecatheter section 401 and the distal end 402 may be connected to thecatheter section 401 on another end of the catheter section 401. Inother embodiments, the camera 404 and radiation source 403 may both belocated at the end of catheter section 401 opposite distal end 402, thecamera 404 and radiation source 403 may both be located at the end ofcatheter section 401 at distal end 402, or the camera 404 and radiationsource 403 may be located at opposite ends of catheter section 401.

Catheter section 401 may be a flexible shaft and may include a number ofchannels (not shown) which may facilitate an examination of a patient'sbody. The channels in the catheter section 401 may run from one end ofthe catheter 401 to another end to allow transmission of data betweencamera 404/radiation source 403 and distal end 402 (described in furtherdetail below). The channels may permit a physician to engage in remoteoperations such as transmission of images captured by the distal end402, providing radiation generated by the radiation source 403 to distalend 402, irrigation for washing and removing debris from distal end 402(using air/water pathway 407 and suction pathway 408), and introductionof medical instruments into a patient (via instrument pathway 409).

Operation of an endoscope according to an embodiment of the presentinvention will now be described with respect to FIGS. 4A and 4B. FIG. 4Billustrates a detailed view of catheter section 401 of endoscope 400according to an embodiment of the present invention. Cather section 401may include distal end 402 and a fiber optics bundle 411. Distal end 402may include a distal tip 410 with projection optics 412 and imagingoptics 413. The projections optics 412 and imaging optics 413 may eachinclude a lens to focus the radiation used by the endoscope 400. Lensesmay be used to focus radiation, and may include optical lenses,parabolic reflectors, or antennas, for example. Fiber optics bundle 411may connect radiation source 403 to projection optics 412 to facilitatetransmission of electromagnetic radiation from radiation source 403 toprojection optics 412. Fiber optics bundle 411 may also connect camera404 to imaging optics 413 to facilitate transmission of imaging datacaptured by imaging optics 413 to camera 404.

Endoscope 400 may generate full-field, 3-D representations of internalhuman organs and cavities using the SSM techniques described above withrespect to FIGS. 1-3. During an operation, distal end 402 and cathetershaft 401 may be inserted into a patient and guided to a surface insidethe patient's body that is under examination. Once the distal end 402 isproperly oriented, the radiation source 403 may transmit a spatialpattern of electromagnetic radiation to projection optics 412 via fiberoptics bundle 411. As described above with respect to FIGS. 1-3, thefrequency of the electromagnetic radiation may be modified depending onthe media (the area between the distal tip 410 and the target surface)the radiation is propagating through. The pattern of electromagneticradiation may be projected onto the surface under examination by placinga slide or grating (not shown) with a desired pattern between theradiation source 403 and the fiber optics bundle 411 in the cathetersection 401. The pattern of electromagnetic radiation may propagatethrough the fiber optics bundle 411, exit through projection optics 412at the distal tip 410, and project onto the target surface.

The spatial radiation signals may reflect from the target surface backto the distal tip 410 and imaging optics 413 may capture the reflectedsignals (which are modulated by interaction with the surface). Thecaptured reflection images may be transmitted from imaging optics 413 tocamera 404 via fiber optics bundle 411 and subsequently transmitted to acontroller system (not shown, but similar to controller system 106 ofFIG. 1). The controller system may use existing information regardingvarious signal parameters to isolate the content of the reflectedspatial signal that contains the 3-D shape information. The shapeinformation may be used to mathematically reconstruct the 3-D shape oftarget surface.

Moreover, endoscope 400 may be used to construct full-field surface mapsof long passageways in a patient's body (e.g., gastrointestinalpassageways) by moving the endoscope 400 through a given passageway.While endoscope 400 is being guided through a given passageway,continuous full-field surface maps may be generated by stitchingtogether the 3-D data gathered during each video frame captured bycamera 404. The 3-D data may be stitched together using algorithms knownin the art implemented in software, hardware, or a combination ofsoftware and hardware. In this manner, an accurate 3-D model of thecavity in which the device is traveling may be constantly digitallydeveloped and recorded. Thus, embodiments of the present invention mayprovide a continuous real-time, 3-D representation of the interior of apatient's gastrointestinal passageways. Such methods may also be usedfor other internal organs that may not be captured by a stationaryendoscope.

FIG. 4C illustrates another embodiment of a catheter section 420 with adistal end 421 and electrical and data leads 425 in accordance with thepresent invention. Distal end 421 may include a distal tip 422 withimaging optics 424 (similar to imaging optics 413 in FIG. 4B) andelectromagnetic radiation emitter 423. Electromagnetic radiation emitter423 may be molded onto distal tip 422 and may project the spatialradiation signals (similar to the signals described above with respectto FIGS. 1-4B). Emitter 423 may contain a lamp, a pattern slide, and alens (not shown, but described in FIG. 5 below) and may project aspatial pattern onto a target surface when power is provided to it viaelectrical and data leads 425. Thus, there is no need for an externalelectromagnetic radiation source (similar to source 403 in FIG. 4)because emitter 423 may be capable of locally generating radiationpatterns and projecting them onto target surfaces.

Catheter section 420 may be utilized alone, integrated into, or passedthrough the working lumen of an endoscopic device (similar to endoscope400 of FIG. 4A, but possibly without the radiation source 403) and mayutilize the SSM techniques described above. During operation, emitter423 may receive power via electrical and data leads 425 and subsequentlyproject a spatial electromagnetic radiation pattern onto a targetsurface according to a spatial signal modulation algorithm. Thefrequency of the electromagnetic radiation used to project the spatialpattern may be modified depending on the media which the radiation ispropagating through (as previously described).

The spatial radiation signals may reflect from the target surface backto the distal tip 422 and imaging optics 424 may capture the reflectedsignals (which are modulated by interaction with the surface). Thecaptured reflection images may be transmitted from imaging optics 424 toa camera (not shown, but similar to camera 404 in FIG. 4A) viaelectrical and data leads 425 and subsequently transmitted to acontroller system (not shown, but similar to controller system 106 ofFIG. 1). The controller system may use existing information regardingvarious signal parameters to isolate the content of the reflectedspatial signal that contains the 3-D shape information. The shapeinformation may be used to mathematically reconstruct the 3-D shape oftarget surface.

Embodiments of the present invention integrating the catheter section420 with distal end 421 into an endoscopic device may also be used toconstruct full-field surface maps of long passageways in a patient'sbody (e.g., gastrointestinal passageways) by moving the endoscopethrough a given passageway (similar to the embodiment described withrespect to FIGS. 4A-B). While the endoscope is being guided through agiven passageway, continuous full-field surface maps may be generated bystitching together the 3-D information calculated from informationcontained in each video frame captured by the camera.

FIG. 5 illustrates a detailed, cross-sectional view of a distal end 500that may be integrated with an endoscope described above with respect toFIG. 4C according to an embodiment of the present invention. Distal end500 may include a lamp 501, a pattern slide 502, an illumination lens503, an imaging sensor 504, and an imaging lens 505.

Lamp 501, pattern slide 502, and illumination lens 503 may form anelectromagnetic radiation emitter (not specifically labeled, but similarto emitter 423 in FIG. 4C) capable of projecting patterns of radiationonto a target surface according to a spatial signal modulationalgorithm. The frequency of the electromagnetic radiation used toproject the spatial pattern may be modified depending on the media whichthe radiation is propagating through (as previously described). Duringoperation, lamp 501 may receive power from a power source (not shown)via electrical lead 506 and project electromagnetic radiation throughpattern slide 502 and illumination lens 503 onto a target surface.

The spatial radiation signals may reflect from the target surface backto the distal end 500 through imaging lens 505, and imaging sensor 504may capture the reflected signals (which are modulated by interactionwith the surface). The captured reflection images may be transmittedfrom imaging sensor 504 via data leads 507 to a controller system (notshown, but similar to controller system 106 of FIG. 1). The controllersystem may use existing information regarding various signal parametersto isolate the content of the reflected spatial signal that contains the3-D shape information. The shape information may be used tomathematically reconstruct the 3-D shape of target surface.

FIG. 6 illustrates an endoscopic capsule 600 according to an embodimentof the present invention. FIG. 6 includes a cross-sectional view (on theleft) and an overhead view (to the right) of capsule 600. Capsule 600may be a small vitamin pill sized capsule that is capable of beingingested by a patient. The capsule 600 may implement the SSM techniquesdescribed above to generate full-field, 3-D representations of surfacesof a human digestive tract that are difficult to reach throughtraditional endoscopic examination.

Capsule 600 may include an imaging package 610, an electromagneticradiation package 620, power supply and electronics 630, a wirelesstransmitter 640, and a transparent protective cover 650. The cover 650may be an outer shell capable of protecting the devices in capsule 600while it is flowing through the digestive tract of a patient. Imagingpackage 610 may include imaging optics 612 (e.g., a lens) and imagingsensor 614.

Capsule 600 may operate in a similar fashion to the embodimentsdescribed above, however, capsule 600 may be powered locally via powersupply and electronics 630, which may include a battery, for example.Moreover, capsule 600 may transmit captured image data to an imageprocessing module (not shown, but similar to controller system 106 ofFIG. 1) located external to a patient's body using wireless transmitter640. An antenna module (not shown) may be placed on the skin of thepatient to facilitate data transmission from the capsule to the imageprocessing module.

During operation, a patient may ingest capsule 600, which travelsthrough the patient's digestive tract for measurement purposes. Whilecapsule 600 is traveling through the patient's digestive tract,electromagnetic radiation package 620 (which may include an emitter thatis similar to the electromagnetic radiation emitter 423 of FIG. 4C) maybe powered by power supply and electronics 630 to constantly projectspatial electromagnetic radiation patterns on surfaces in its path. Thefrequency of the electromagnetic radiation used to project the spatialpattern may be modified depending on the media (e.g., visible frequencytransparent gases and clear fluids) which the radiation is propagatingthrough (as previously described).

The spatial radiation signals may reflect from the target surface backto the imaging optics (the signals may be modulated by interaction withthe surface). Image sensor 614 may capture the reflected images andtransmit them, via wireless interface 640, from the capsule 600 to animage processing module (now shown, but similar to controller system 106of FIG. 1). The image processing module may use existing informationregarding various signal parameters to isolate the content of thereflected spatial signal that contains the 3-D shape information. Theshape information may be used to mathematically reconstruct the 3-Dshape of the target surface.

Reflection images captured by capsule 600 may be used to constructfull-field surface maps of a patient's digestive tract as the capsule600 is traveling in the tract by stitching together the 3-D datagathered during each video frame captured by image sensor 614. In thismanner, an accurate 3-D model of the cavity in which the device istraveling may be constantly digitally developed and recorded. Capsule600 may be generally moved along involuntarily by peristalsis orselectively propelled/guided electromagnetically.

FIGS. 7A and 7B illustrate two views of a catheterization probe 700according to an embodiment of the present invention. The probe 700 maybe employed during a catheterization procedure to quantitatively examinestructures during normal function or, for example, to detect and measureplaques and blockages in the coronary arteries. The catheterizationprobe 700 may include a catheter section 701, a radiation source 702(similar to radiation source 403 of FIG. 4A), a radiation sensor 703,and a distal end 704. The radiation source 702 and the radiation sensor703 may be connected to the catheter section 701 on one end of thecatheter section 701, and the distal end 704 may be connected to thecatheter section 701 on the other end of the catheter section 701. Inother embodiments, radiation source 702 and the radiation sensor 703 mayboth be located at the end of catheter section 701 opposite distal end704, radiation source 702 and the radiation sensor 703 may both belocated at the end of catheter section 701 at distal end 704, orradiation source 702 and the radiation sensor 703 may be located atopposite ends of catheter section 701.

Catheter section 701 may be a flexible shaft and may include a fiberoptics bundle 711 and a distal end 704. The distal end 704 may include adistal tip 710 with projections optics 712 and imaging optics 713. Theprojections optics 712 and imaging optics 713 may each include a lens tofocus the radiation used by the probe 700. Fiber optics bundle 711 mayconnect radiation source 702 to the projection optics 712 to facilitatetransmission of electromagnetic radiation from radiation source 702 toprojection optics 712. Fiber optics bundle 711 may also connectradiation sensor 703 to imaging optics 713 to facilitate transmission ofimaging data captured by imaging optics 713 to radiation sensor 703.

Catheterization probe 700 may generate full-field, 3-D representationsof vascular anatomy such as heart valves, coronary arteries, orperipheral vasculature using the SSM techniques described above withrespect to FIGS. 1-6. During a procedure the long, thin, and flexibleshaft of the catheter section 701 may be introduced into a blood vesseland threaded into the target vessels of the heart. The probe 700 mayhave sufficient torsional rigidity and a deflectable portion at thedistal end 704 (show in FIG. 7A) to facilitate torque steering as it isadvanced within a cardiovascular environment.

Once the distal end 704 is properly oriented, the radiation source 702may transmit a spatial pattern of electromagnetic radiation toprojection optics 712 via fiber optics bundle 711. As described abovewith respect to FIGS. 1-6, the frequency of the electromagneticradiation may be modified depending on the media (the area between thedistal tip 710 and the target surface) the radiation is propagatingthrough. The pattern of electromagnetic radiation may be projected ontothe surface under examination by placing a slide or grating (not shown)with a desired pattern between the radiation source 702 and the fiberoptics bundle 711 in the catheter section 701. The pattern ofelectromagnetic radiation may propagate through the fiber optics bundle711, exit through projection optics 712 at the distal tip 710, andproject onto the target surface.

The spatial radiation signals may reflect from the target surface backto the distal tip 710 and imaging optics 713 may capture the reflectedsignals (which are modulated by interaction with the surface). Thecaptured reflection images may be transmitted from imaging optics 713 toradiation sensor 703 via fiber optics bundle 711 and subsequentlytransmitted to a controller system (not shown, but similar to controllersystem 106 of FIG. 1). The controller system may use existinginformation regarding various signal parameters to isolate the contentof the reflected spatial signal that contains the 3-D shape information.The shape information may be used to mathematically reconstruct the 3-Dshape of target surface.

In this manner, full field digital 3-D surface maps of cardiac cavitiesmay be continuously generated by the measurement package (projectionoptics 712 and imaging optics 713) located at the distal tip 710 of theprobe 700. These computer generated maps combine to form a virtualenvironment of the interior surface of the cavity under study. Thisinformation may be presented on a display device, either locally to theattending operating room staff, or transmitted remotely, creating atelepresence for diagnosis by an expert located remotely from thepatient. The real-time 3-D model information may be used as anavigational aid within the vessel, tracking and recording progress andsurface structures. Once within the vascular or cardiac structures, thedistal tip 710 may be navigated to the area of interest and may provideaccurate, direct, and quantitative 3-D observation of a functioninganatomy.

Embodiments of the present invention described above provide devices andmethods to generate accurate, high-speed 3-D surface representations. Bycarefully varying the frequency of the radiation projected onto targetsurfaces, physicians may be able to see through media that werepreviously considered opaque. Tailoring emitter-sensor packages tospecific frequencies depending on the media the radiation is travelingthrough allows reproduction of 3-D surfaces both internal and externalto the human body.

Moreover, integrating the SSM techniques described above with medicaldevices such as probes, endoscopes, catheters, or capsules may enablephysicians to generate accurate full-field, 3-D representations ofsurfaces that were previously very difficult to produce. The medicalapplications of in-vivo topometric data are innumerable. Internalreal-time 3-D sensing applied through endoscopic or catheter basedinspection of gastrointestinal, cardiovascular, or bronchial passagewaysmay assist detection of anomalous structures, constrictions, or growths.Devices and methods in accordance with the embodiments of the presentinvention described above may be invaluable for virtual biopsies andearly detection in oncology as many cancers may originate on surfaces ofthe internal anatomy. Catheter based, quantifiable 3-D mapping of plaquestrictures in coronary arteries may allow for better diagnosis of heartdisease and placement of stents or other appliances. There are numerousother medical applications for the techniques and devices describedabove.

Those skilled in the art may appreciate from the foregoing descriptionthat the present invention may be implemented in a variety of forms, andthat the various embodiments may be implemented alone or in combination.Therefore, while the embodiments of the present invention have beendescribed in connection with particular examples thereof, the true scopeof the embodiments and/or methods of the present invention should not beso limited since other modifications will become apparent to the skilledpractitioner upon a study of the drawings, specification, and followingclaims.

What is claimed is:
 1. A system for providing a full-field,three-dimensional representation of a target surface inside a humanbody, the system comprising: a catheter, the catheter having a proximalend and a distal end adapted to be inserted into the human body andguided to the target surface inside the human body; projectioncomponents for projecting electromagnetic radiation onto the targetsurface in a projected pattern, the projection components comprising anelectromagnetic radiation emitter connected to the proximal end of thecatheter, a projection lens located at the distal end of the catheter,fiber optics capable of transmitting the electromagnetic radiation fromthe electromagnetic radiation emitter to the projection lens, and agrating positioned between the radiation emitter and the projectionlens, wherein electromagnetic radiation that is emitted from theelectromagnetic radiation emitter and that passes through the gratingand the projection lens is projected onto the target surface in theprojected pattern; imaging components for capturing a plurality ofsuccessive images of electromagnetic radiation reflected from the targetsurface, the imaging components comprising an imaging lens located atthe distal end of the catheter, an image sensor connected to theproximal end of the catheter and configured to capture image datacorresponding to the plurality of successive images of electromagneticradiation reflected from the target surface, and fiber optics capable oftransmitting electromagnetic radiation from the imaging lens to theelectromagnetic image sensor; an image processing module configured toreceive the captured image data from the image sensor and to calculate afull-field, three-dimensional representation of the target surface foreach image of the plurality of successive images of electromagneticradiation reflected from the target surface using the captured imagedata and a spatial signal modulation algorithm, wherein the imagescomprise successive reflections of the projected pattern modulated bythe target surface, and wherein the images differ from each other due torelative movement between the catheter and the target surface, resultingin a plurality of successive full-field, three-dimensionalrepresentations of the target surface; and a display device configuredto display the plurality of successive full-field, three-dimensionalrepresentations of the target surface.
 2. The system of claim 1 furthercomprising one or more of: an instrument port; and an irrigation module.3. The system of claim 2, wherein the irrigation module comprises: achannel to provide liquid or air; and a suction channel to remove liquidor air.
 4. The system of claim 1, wherein the projection lens and theimage sensor are integrated into a catheter comprising a flexible shaftportion.
 5. The system of claim 1, wherein the electromagnetic radiationemitter is configured to project electromagnetic radiation using afrequency that enables the image sensor to capture image data in liquidmedia.
 6. The system of claim 1, wherein the electromagnetic radiationemitter is configured to project electromagnetic radiation using afrequency that enables the image sensor to capture image data in gaseousmedia.
 7. The system of claim 1, wherein the electromagnetic radiationemitter is configured to project infrared radiation.
 8. A method forproviding a full-field, three-dimensional representation of a targetsurface, the method comprising: projecting electromagnetic radiationonto the target surface in a projected pattern using projectioncomponents, the projection components comprising an electromagneticradiation emitter, a projection lens, fiber optics capable oftransmitting the electromagnetic radiation from the electromagneticradiation emitter to the projection lens, and a grating positionedbetween the electromagnetic radiation emitter and the projection lens,wherein electromagnetic radiation that is emitted from theelectromagnetic radiation emitter and that passes through the gratingand the projection lens is projected onto the target surface in theprojected pattern; capturing, by an image sensor, image datacorresponding to a plurality of successive images of electromagneticradiation reflected from the target surface, wherein the images comprisesuccessive reflections of the projected pattern modulated by the targetsurface, and wherein the images differ from each other due to relativemovement between the projection lens and the target surface; providingthe captured image data to an image processing module; calculating, by aprocessor of the image processing module, a full-field,three-dimensional representation of the target surface using thecaptured image data and a spatial signal modulation algorithm, resultingin a plurality of successive full-field, three-dimensionalrepresentations of the target surface; and displaying the plurality ofsuccessive full-field, three-dimensional representations of the targetsurface on a display device.
 9. The method of claim 8, wherein theelectromagnetic radiation emitter and the image sensor are integratedinto a system for providing a continuous, full-field, three-dimensionalrepresentation of a target surface, the system comprising one or moreof: a flexible shaft portion; an instrument port; and an irrigationmodule.
 10. The method of claim 9, wherein the irrigation modulecomprises: a channel to provide liquid or air; and a suction channel toremove liquid or air.
 11. The method of claim 8, wherein theelectromagnetic radiation emitter and the image sensor are integratedinto an endoscopic capsule, the endoscopic capsule comprising: anantenna module; a wireless radio module configured to transmit thecaptured image data to the image processing module using the antennamodule; and a battery module configured to provide power.
 12. The methodof claim 8, wherein the projection lens and the image sensor areintegrated into a catheter comprising a flexible shaft portion.
 13. Themethod of claim 8, wherein the electromagnetic radiation emitter isconfigured to project electromagnetic radiation using a frequency thatenables the image sensor to capture image data in liquid media.
 14. Themethod of claim 8, wherein the electromagnetic radiation emitter isconfigured to project electromagnetic radiation using a frequency thatenables the image sensor to capture image data in gaseous media.
 15. Themethod of claim 8, wherein the electromagnetic radiation emitter isconfigured to project infrared radiation.